CN210589872U

CN210589872U - Embryo moving robot of full-automatic tile making device

Info

Publication number: CN210589872U
Application number: CN201921179685.5U
Authority: CN
Inventors: 孙明春
Original assignee: Hubei Emotion Robot Technology Co ltd
Current assignee: Hubei Emotion Robot Technology Co ltd
Priority date: 2019-07-25
Filing date: 2019-07-25
Publication date: 2020-05-22
Anticipated expiration: 2029-07-25

Abstract

The utility model relates to a technical field is equipped to the system tile, discloses a embryo robot is moved of full-automatic system tile device, including the frame, the frame is equipped with the lift seat, is used for driving piece one that the lift seat goes up and down, and the lift seat is equipped with gets material seat, driving piece two, gets to be equipped with sucking disc device, driving piece three on the material seat. The utility model has the advantages of it is following and effect: move embryo robot and take out the embryo spare from pressing the embryo built-in, the camera transmits to the controller after gathering dolly department image, the controller handles image information and calculates the distance, the position of a pair of lift seat of rethread driving piece in vertical direction is adjusted, make the embryo spare aim at the clearance between the adjacent two-layer goods shelves in the dolly, driving piece two drive is got the material seat and is moved in order being close to in the horizontal direction, get into the dolly, three drive sucking disc devices of driving piece are close to simultaneously, get into in the dolly, the sucking disc device puts down the embryo spare, the embryo spare drops on dolly goods shelves, realize getting automatically and put the embryo spare, reduce the manual work, the production efficiency is improved.

Description

Embryo moving robot of full-automatic tile making device

Technical Field

The utility model relates to a system tile equips technical field, in particular to embryo moving robot of full-automatic system tile device.

Background

Along with the rapid development of domestic and foreign economy, the construction industry playing a key role in the national economy industry is continuously developed, the demand of construction consumables represented by bricks and tiles is increased year by year, and the quality requirement is higher and higher. In order to accelerate the industrialization and scale of tile making, the state strictly forbids the firing mode of a ring kiln, enterprises are bound to improve the yield and quality of tile making under the requirement of high income, and the improvement of the living standard of people is added, so that the operation mode with high labor intensity and poor operation environment like the traditional tile making production is more and more rejected by people, and the mechanized equipment based on high and new technology is required to be applied to tile making equipment. Therefore, automation equipment represented by robotics will become a major production tool in the tile industry in the future.

The full-automatic tile making device comprises a mud extruder, a blank cutting machine, a blank lifting machine, a blank pressing machine and a trolley for loading blanks, wherein the trolley is of a multi-layer shelf structure and is used for storing blanks to dry. The process of transferring to the dolly from the blank pressing machine is that the manual work is got and is put, and not only wastes time and energy, and is very dangerous moreover, plays the embryo machine for stamping forming, and the touching starts, easily the mistake bumps and starts the embryo machine in the operation, and the punching press post that the mistake started produces powerful impact force, probably harms the operation workman, has the serious accident of industrial injury arm amputation in the practice.

The mechanical device is used for automatic picking and placing, and technical obstacles exist: the dolly is multilayer shelf structure, and for workman convenient operation, every layer height is inconsistent, and the middle level is low, and top and bottom are high, and automatic device can not put into accurately, consequently, it is necessary to provide one kind and can put into the embryo transfer robot in the dolly after taking out embryo spare from pressing embryo machine automatically.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a full-automatic system tile device move embryo robot has the automatic effect of getting the embryo spare of putting.

The above technical purpose of the present invention can be achieved by the following technical solutions: full-automatic tile making device move embryo robot, which comprises a frame, the frame is equipped with the lift seat, is used for the drive the driving piece one that the lift seat goes up and down, the lift seat be equipped with slide set up in the seat of getting of lift seat, be used for the drive get the gliding driving piece two of material seat, get be equipped with on the material seat slide set up in get the sucking disc device of material seat, be used for the drive sucking disc device gliding driving piece three.

Through adopting above-mentioned technical scheme, when moving embryo robot of full-automatic system tile device used, embryo pressing machine and dolly distribute in the both sides of frame, and driving piece one drive lift seat moves in vertical direction, and the blank department in the embryo pressing machine is aimed at to the sucking disc device on getting the material seat, and the material seat is got in the drive of driving piece two drive and moves in order to get into in the embryo pressing machine in the horizontal direction, and driving piece three drive sucking disc device moves to blank department in the horizontal direction simultaneously, and the sucking disc device absorbs the blank. The driving part three drives the sucker device to be far away from the blank pressing machine, and the driving part two drives the material taking seat to be far away from the blank pressing machine, so that the blank is taken out of the blank pressing machine.

And the first driving piece drives the lifting seat to move in the vertical direction until the blank sucked by the suction disc device moves to a proper position so as to align with a gap between two layers of goods shelves in the trolley. The driving part II drives the material taking seat to move into the trolley in the horizontal direction, the driving part III drives the sucker device to move into the trolley in the horizontal direction, the sucker device puts down the blank, the blank drops on a goods shelf of the trolley, the blank is automatically taken out of the blank pressing machine and automatically placed on the goods shelf of the trolley, the material taking seat and the sucker device can move simultaneously, and the blank moving efficiency is improved.

The utility model discloses a further set up to: the material taking seat is provided with a camera used for collecting trolley images and transmitting the trolley images to the controller, and the controller is used for controlling the first driving piece, the second driving piece and the third driving piece to run.

Through adopting above-mentioned technical scheme, the camera gathers the dolly image and transmits to the controller, and the controller is handled the image, calculates the distance that the seat that goes up and down need move in vertical direction, and the motion of controller rethread control driving piece one is in order to adjust the position of seat that goes up and down in vertical direction, and the blank that makes the sucking disc device absorb aims at the clearance between the adjacent two-layer goods shelves in the dolly.

The utility model discloses a further set up to: the material taking seat is also provided with at least one laser sensor, and the laser sensor is connected with the controller.

Through adopting above-mentioned technical scheme, the back is blockked by the dolly frame to the laser that laser sensor sent, gets material seat and sucking disc device and continue to be close to the dolly and probably bump into the dolly frame, and laser sensor signals, and the controller receives and controls driving piece two, the three stop motion of driving piece after the signal to prevent to get material seat and sucking disc device and bump into the dolly frame, play the effect of anticollision.

The utility model discloses a further set up to: the frame is equipped with and is higher than the counter weight sprocket, the balancing weight of lift seat, with the counter weight chain that the counter weight sprocket meshes mutually, the counter weight sprocket rotate set up in the frame, counter weight chain one end with the lift seat is fixed mutually and the other end with the balancing weight is fixed mutually.

The utility model discloses a further set up to: the rack is fixedly provided with two vertically arranged first sliding rails, the lifting seat is fixedly provided with two corresponding first sliding blocks, and the first sliding blocks are connected with the first sliding rails in a sliding manner; the lifting seat is provided with a second sliding rail fixed at the upper end of the lifting seat and horizontally arranged, and a third sliding rail fixed on the side wall of the lifting seat and parallel to the second sliding rail, and the material taking seat is fixed with a second sliding block connected with the second sliding rail and a third sliding block connected with the third sliding rail; the bottom of the material taking seat is fixedly provided with a plurality of sliding rails IV parallel to the sliding rails II, and the sucker device comprises a sliding block IV in sliding connection with the sliding rails IV.

The utility model discloses a further set up to: the first driving piece comprises a first synchronous belt, a first driving motor and a first synchronous wheel, wherein the first synchronous belt is fixed on the rack and is vertically arranged, the first driving motor is fixed on the lifting seat, the first synchronous wheel is fixed on an output shaft of the first driving motor, the first synchronous wheel is meshed with the first synchronous belt, and the lifting seat is provided with a first pressing wheel used for enabling the first synchronous belt to abut against the first synchronous wheel; the second driving part comprises a second synchronous belt fixed on the lifting seat, a second driving motor fixed on the material taking seat and a second synchronous wheel fixed on an output shaft of the second driving motor, the second synchronous wheel is meshed with the second synchronous belt, and a second pressing wheel used for pressing the second synchronous belt against the second synchronous wheel is arranged on the material taking seat; the driving piece III comprises two driven synchronous wheels III which are rotatably arranged on the material taking seat, fixed driving motors III of the material taking seat, fixed driving synchronous wheels III of three output shafts of the driving motors, three annular synchronous belts III, three sets of synchronous belts, three sets of the driving synchronous wheels III and three driven synchronous wheels III, the sucker device and the three-phase fixed synchronous belts, and the material taking seat is provided with a pressing wheel III which is used for supporting the three synchronous belts on the three driving synchronous wheels.

The utility model discloses a further set up to: the third driving motor is fixed with a mounting seat, the material taking seat is provided with a supply, the mounting opening and the threaded connection of the mounting seat are connected with the material taking seat and abutted to the adjusting bolt on the mounting seat, the mounting seat is provided with vertical strip-shaped holes, the material taking seat is provided with through holes, and the material taking seat is provided with fastening bolts and threaded connections which penetrate through the through holes and the strip-shaped holes and fastening nuts of the fastening bolts.

Through adopting above-mentioned technical scheme, loosen fastening nut, adjust adjusting bolt, adjustable mount pad and driving motor position three to the tensioning of adjustment hold-in range.

The utility model discloses a further set up to: the sucking disc device comprises a sucking disc seat and a plurality of sucking discs arranged on the sucking disc seat, a drag chain is arranged at the upper end of the material taking seat, and the drag chain is connected with the sucking disc seat.

Through adopting above-mentioned technical scheme, sucking disc device is located and gets material seat below, can not direct observation to sucking disc device's position. The tow chain is located and is got material seat upper end, and links to each other with sucking disc device, can judge sucking disc device and get the position of material seat lower extreme through observing the tow chain position, and the circuit such as trachea that link to each other with sucking disc device can be installed in the tow chain.

The utility model discloses a further set up to: the conveying device comprises a trolley conveying frame, an annular conveying chain and a conveying driving device, wherein the conveying chain can rotate on the trolley conveying frame, the conveying driving device is used for driving the conveying chain to move, and a positioning seat used for abutting against the trolley is arranged on the conveying chain.

Through adopting above-mentioned technical scheme, the truckle is installed to the dolly bottom, and the positioning seat on the conveying chain supports at the dolly lower extreme, and conveying chain motion accessible positioning seat promotes the dolly motion. When the blank moving robot of the full-automatic tile making device is used for placing blanks, a row of blanks are placed on each layer of goods shelves of the trolley from top to bottom, the conveying driving device drives the conveying chain to move, the trolley is driven by the conveying chain to move forward for one end distance, and the blank moving robot of the full-automatic tile making device is used for placing a row of blanks on each layer of goods shelves of the trolley from top to bottom until all the layers of goods shelves of the trolley are full.

The utility model discloses a further set up to: and the trolley conveying frame is provided with a positioning cylinder for pushing a trolley on the trolley conveying frame.

By adopting the technical scheme, when the blank moving robot of the full-automatic tile making device puts a blank into the trolley, the piston rod of the positioning cylinder extends out to support the trolley on the trolley conveying frame so as to fix the position of the trolley.

The utility model has the advantages that: the embryo moving robot of the full-automatic tile making device takes out the embryo from the embryo pressing machine, the camera collects images of a trolley and then transmits the images to the controller, the controller processes image information and calculates distance, the positions of a pair of lifting seats of the driving piece in the vertical direction are adjusted, the embryo sucked by the sucker device is aligned to the gap between two adjacent layers of racks in the trolley, the driving piece two-drive material taking seat moves in the horizontal direction to be close to and enter the trolley, meanwhile, the driving piece three-drive sucker device is close to and enters the trolley, the sucker device puts down the embryo, the embryo drops on the rack of the trolley, automatic picking and placing of the embryo are achieved, automated production is achieved, manpower is reduced, and production efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the position relationship among the frame, the lifting seat and the material taking seat of the present invention.

Fig. 3 is a schematic view of the connection relationship between the frame, the lifting seat and the counterweight of the present invention.

Fig. 4 is a schematic view of the connection relationship between the driving member two and the driving member three according to the present invention.

Fig. 5 is a schematic structural view of the suction cup device of the present invention.

Fig. 6 is a schematic view of the connection relationship between the driving motor iii, the mounting seat and the material taking seat of the present invention.

Fig. 7 is a schematic diagram of the position relationship between the carriage conveying frame and the carriage of the present invention.

Fig. 8 is a schematic view of the bottom structure of the trolley conveying frame of the present invention.

Fig. 9 is a schematic structural view of the cart conveying frame of the present invention.

In the figure, 1, a frame; 11. a first slide rail; 12. a counterweight sprocket; 13. a counterweight chain; 14. a balancing weight; 15. a dust cover; 2. A lifting seat; 21. a first sliding block; 22. a second slide rail; 23. a third slide rail; 3. a first driving part; 31. a first synchronizing wheel; 32. driving a motor I; 33. a first synchronous belt; 34. a first pressing wheel; 4. a material taking seat; 41. a laser sensor; 42. a second sliding block; 43. a third sliding block; 44. a fourth slide rail; 45. an installation port; 451. adjusting the bolt; 5. a driving part II; 51. a second synchronizing wheel; 52. a second driving motor; 53. a second synchronous belt; 54. a second pressing wheel; 6. a suction cup device; 61. a sucker seat; 62. a suction cup; 63. a drag chain; 7. a driving member III; 71. a driven synchronizing wheel III; 72. driving a motor III; 721. a mounting seat; 7211. a strip-shaped hole; 73. a third driving synchronous wheel; 74. a synchronous belt III; 75. pressing wheel III; 8. a camera; 81. an illuminating lamp; 9. a trolley conveying frame; 91. a conveying chain; 911. positioning seats; 92. a conveying sprocket; 93. a conveyance drive device; 94. positioning the air cylinder; 941. a positioning part; 95. a trolley; 10. a blank pressing machine.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to the specific embodiments. It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Example (b): a blank moving robot of a full-automatic tile making device is shown in figures 1 and 2 and comprises a rack 1, wherein a lifting seat 2 and a driving piece I3 for driving the lifting seat 2 to lift are arranged on the rack 1, a material taking seat 4 and a driving piece II 5 for driving the material taking seat 4 to move are arranged on the lifting seat 2, and a sucking disc device 6 and a driving piece III 7 for driving the sucking disc device 6 to move are arranged on the material taking seat 4. The upper end of the material taking seat 4 is provided with a drag chain 63, and the drag chain 63 is connected with the suction cup device 6. A trolley conveying frame 9 is arranged on one side of the rack 1, a trolley 95 is placed on the trolley conveying frame 9, and a plurality of layers of goods shelves are arranged in the trolley 95 and used for placing blanks. When the embryo moving robot of the full-automatic tile making device works, the embryo pressing machine 10 is positioned on one side of the rack 1, which is far away from the trolley conveying frame 9, and the embryo moving robot is used for taking out the embryo piece from the embryo pressing machine 10 and placing the embryo piece in a trolley 95 goods shelf.

As shown in fig. 3, two vertically arranged slide rails one 11 are fixed on the frame 1, two corresponding slide blocks one 21 are fixed on the lifting base 2, and the slide blocks one 21 are slidably connected to the slide rails one 11. The first driving part 3 comprises a first synchronous belt 33 fixed on the frame 1 and a first driving motor 32 fixed on the lifting seat 2, a first synchronous wheel 31 is fixed on an output shaft of the first driving motor 32, and the first synchronous wheel 31 is meshed with the first synchronous belt 33. The lifting seat 2 is rotatably provided with two first pressure wheels 34, the two first pressure wheels 34 are distributed on two sides of the first synchronous wheel 31, and the first synchronous wheel 33 is abutted to the first synchronous wheel 31. The first driving motor 32 drives the first synchronizing wheel 31 to rotate so as to drive the first driving motor 32 and the lifting base 2 to move in the vertical direction.

As shown in fig. 3, four counterweight sprockets 12 are rotatably connected to the frame 1, and the four counterweight sprockets 12 are higher than the lifting base 2. The frame 1 is provided with a counterweight block 14 and two counterweight chains 13 corresponding to the counterweight chain wheels 12, one end of each counterweight chain 13 is fixed with the lifting seat 2, the other end of each counterweight chain is fixed with the counterweight block 14, and the middle part of each counterweight chain is meshed with the two counterweight chain wheels 12 to play a role of counterweight. The frame 1 is also fixed with the shield 15, and the shield 15 covers balancing weight 14, a part of counter weight chain 13, reduces the dust adhesion on balancing weight 14 in the operational environment.

As shown in fig. 4, a second slide rail 22 horizontally disposed is fixed at the upper end of the lifting seat 2, a third slide rail 23 is fixed at the side wall, and the second slide rail 22 is parallel to the third slide rail 23. The second sliding block 42 and the third sliding block 43 are fixed on the material taking seat 4, the second sliding block 42 is in sliding connection with the second sliding rail 22, and the third sliding block 43 is in sliding connection with the third sliding rail 23, so that the material taking seat 4 can move in the horizontal direction relative to the lifting seat 2. The second driving piece 5 comprises a second synchronous belt 53 fixed on the lifting seat 2 and a second driving motor 52 fixed on the material taking seat 4, a second synchronous wheel 51 is fixed on an output shaft of the second driving motor 52, and the second synchronous wheel 51 is meshed with the second synchronous belt 53. The material taking seat 4 is rotatably connected with two second pressure wheels 54, and the two second pressure wheels 54 are distributed on two sides of the second synchronous wheel 51 and used for enabling the second synchronous belt 53 to abut against the second synchronous wheel 51.

As shown in fig. 4 and 5, four slide rails four 44 are fixed at the bottom of the material taking seat 4, the suction cup device 6 is located below the material taking seat 4, the suction cup device 6 includes a suction cup seat 61, a plurality of suction cups 62 mounted on the suction cup seat 61, and four slide blocks four (not shown in the figure) corresponding to the slide rails four 44, the slide blocks four (not shown in the figure) are slidably connected with the slide rails four 44, and the slide rails four 44 are parallel to the slide rails two 22, so that the sliding direction of the material taking seat 4 is the same as the sliding direction of the suction cup device 6. The driving piece III 7 comprises two driven synchronous wheels III 71 rotatably arranged on the material taking seat 4, a driving motor III 72 fixed on the material taking seat 4 and a synchronous belt III 74, an output shaft of the driving motor III 72 is fixed with a driving synchronous wheel III 73, the synchronous belt III 74 is annular and is sleeved on the driven synchronous wheels III 71 and the driving synchronous wheel III 73, and the sucker seat 61 is fixed with the synchronous belt III 74. The material taking seat 4 is rotatably provided with two pressing wheels three 75, the two pressing wheels three 75 are distributed on two sides of the driving synchronous wheel three 73, and the synchronous belt three 74 is abutted to the driving synchronous wheel three 73. The driving motor three 72 drives the synchronous belt three 74 to rotate, so as to drive the suction cup device 6 to move in the horizontal direction.

As shown in fig. 6, the material taking seat 4 is provided with a mounting opening 45, a mounting seat 721 is fixed on the driving motor 72, and the mounting seat 721 is embedded in the mounting opening 45. The material taking seat 4 is in threaded connection with an adjusting bolt 451, and the lower end of the adjusting bolt 451 abuts against the upper end of the mounting seat 721. Get and to have seted up the through-hole (not shown in the figure) on the material seat 4, seted up bar hole 7211 on the mount pad 721, get and expect that seat 4 is equipped with the fastening bolt (not shown in the figure) that passes through-hole (not shown in the figure) and bar hole 7211 in proper order, threaded connection is in the fastening nut (not shown in the figure) of fastening bolt (not shown in the figure). After the fastening nut (not shown) and the adjusting bolt 451 are loosened, the positions of the mounting seat 721 and the driving motor III 72 can be finely adjusted to adjust the tension of the synchronous belt III 74.

As shown in fig. 7, 8 and 9, two sets of sprocket sets are arranged on the cart conveying frame 9, each set of sprocket set includes two conveying sprockets 92 rotatably arranged on the cart conveying frame 9, an annular conveying chain 91 is sleeved between the two conveying sprockets 92, the conveying chain 91 is fixed with a plurality of positioning seats 911, and the positioning seats 911 are arranged on the conveying chain 91 at intervals. The trolley conveying frame 9 is further provided with a conveying driving device 93, the conveying driving device 93 is a motor, and an output shaft of the motor is connected with the conveying chain wheel 92 and used for driving the conveying chain wheel 92 to rotate. A plurality of positioning cylinders 94 are arranged on one side of the trolley conveying frame 9, and a positioning part 941 is arranged on a piston rod of each positioning cylinder 94 and used for abutting the trolley 95 on the trolley conveying frame 9.

The embryo moving robot of the full-automatic tile making device further comprises a controller, wherein the controller comprises a PLC (programmable logic controller), and the PLC is connected with the driving piece I3, the driving piece II 5, the driving piece III 7 and the conveying driving device 93. The material taking seat 4 is provided with a camera 8 and three laser sensors 41, and the camera 8 is connected with the controller and used for collecting images at the position of the trolley 95 and transmitting the images to the controller. The material taking seat 4 is also provided with a lighting lamp 81 for lighting the trolley 95. The three laser sensors 41 are connected to the controller, and the laser sensors 41 send signals to the controller after the emitted laser is blocked by the frame of the trolley 95.

When the embryo moving robot of the full-automatic tile making device works: the blank pressing machine 10 is located on one side of the machine frame 1 far away from the trolley conveying frame 9, the trolley 95 is arranged on the trolley conveying frame 9, the piston rod of the positioning air cylinder 94 extends out, and the positioning portion 941 is driven to enable the trolley 95 to be tightly abutted to the trolley conveying frame 9. The first driving part 3 drives the lifting seat 2 to move in the vertical direction until the sucker device 6 on the material taking seat 4 is aligned with a blank in the blank pressing machine 10, the second driving part 5 drives the material taking seat 4 to move in the horizontal direction to be close to the blank in the blank pressing machine 10, meanwhile, the third driving part 7 drives the sucker device 6 on the material taking seat 4 to move in the horizontal direction to be close to the blank in the blank pressing machine 10, the blank is sucked until the sucker device 6 is contacted with the blank in the blank pressing machine 10, the second driving part 5 drives the material taking seat 4 to be far away from the blank pressing machine 10, the third driving part 7 drives the sucker device 6 to be far away from the blank pressing machine 10, and the blank is taken out of the blank pressing machine 10.

The camera 8 collects images of the trolley 95 and transmits the images to the controller, the controller processes the images and calculates the distance of the lifting seat 2 required to move, the controller controls the driving piece I3 to drive the lifting seat 2 to move in the vertical direction, and the position of the lifting seat 2 is adjusted, so that blanks sucked by the sucking disc device 6 are aligned to a gap between two adjacent layers of goods shelves on the trolley 95. The second driving part 5 drives the material taking seat 4 to move along the horizontal direction to be close to the trolley 95 and enter a gap between two layers of goods shelves of the trolley 95, meanwhile, the third driving part 7 drives the sucker device 6 to move on the horizontal direction to be close to and enter the gap between the two layers of goods shelves of the trolley 95, the sucker device 6 puts down the blank, and the blank falls on the goods shelves of the trolley 95. The second driving part 5 drives the material taking seat 4 to be far away from the trolley 95, and the third driving part 7 drives the sucker device 6 to be far away from the trolley 95, so that the process of taking and placing the blank at one time is completed.

When the laser light from the laser sensor 41 is blocked by the frame of the cart 95, the take out shoe 4 and the suction cup device 6 continue to approach the cart 95 and may impinge on the frame of the cart 95. The laser sensor 41 sends a signal to the controller, and the controller controls the second driving part 5 and the third driving part 7 to stop running, so as to prevent the material taking seat 4 and the suction cup device 6 from impacting the frame of the trolley 95, thereby playing a role of collision avoidance. After a row of blanks are sequentially placed on the shelves of the trolley 95 from top to bottom by the material taking seat 4 and the suction cup device 6, the controller controls the piston rod of the positioning cylinder 94 to retract, and the positioning portion 941 is detached from the trolley 95. The controller controls the conveying driving device 93 to operate, drives the conveying chain 91 to move so as to drive the trolley 95 to move forwards for a certain distance, and the embryo moving robot takes the embryo out of the embryo pressing machine 10 and places the embryo on a shelf of the trolley 95, so that the automatic embryo taking and placing is realized.

Claims

1. Embryo moving robot of full-automatic tile making device, including frame (1), its characterized in that: frame (1) is equipped with lift seat (2), is used for the drive piece (3) that lift seat (2) go up and down, lift seat (2) be equipped with slide set up in the seat (2) of getting of lift seat (2) get material seat (4), be used for the drive get material seat (4) gliding drive piece two (5), get be equipped with on material seat (4) slide set up in get sucking disc device (6) of material seat (4), be used for the drive sucking disc device (6) gliding drive piece three (7).

2. The embryo transfer robot of the full-automatic tile making device according to claim 1, characterized in that: the material taking seat (4) is provided with a camera (8) which is used for collecting images of a trolley (95) and transmitting the images to the controller, and the controller is used for controlling the driving piece I (3), the driving piece II (5) and the driving piece III (7) to run.

3. The embryo transfer robot of the full-automatic tile making device according to claim 2, characterized in that: the material taking seat (4) is further provided with at least one laser sensor (41), and the laser sensor (41) is connected with the controller.

4. The embryo transfer robot of the full-automatic tile making device according to claim 1, characterized in that: frame (1) be equipped with be higher than lift seat (2) counter weight sprocket (12), balancing weight (14), with counter weight chain (13) that counter weight sprocket (12) meshed mutually, counter weight sprocket (12) rotate set up in frame (1), counter weight chain (13) one end with lift seat (2) are fixed mutually and the other end with balancing weight (14) are fixed mutually.

5. The embryo transfer robot of the full-automatic tile making device according to claim 1, characterized in that: two vertically arranged slide rails I (11) are fixed on the rack (1), two corresponding slide blocks I (21) are fixed on the lifting seat (2), and the slide blocks I (21) are connected with the slide rails I (11) in a sliding manner; a second sliding rail (22) which is fixed at the upper end of the lifting seat (2) and is horizontally arranged, and a third sliding rail (23) which is fixed on the side wall of the lifting seat (2) and is parallel to the second sliding rail (22) are arranged on the lifting seat (2), and a second sliding block (42) which is in sliding connection with the second sliding rail (22) and a third sliding block (43) which is in sliding connection with the third sliding rail (23) are fixed on the material taking seat (4); a plurality of sliding rails four (44) parallel to the sliding rails two (22) are fixed at the bottom of the material taking seat (4), and the sucker device (6) comprises a sliding block four in sliding connection with the sliding rails four (44).

6. The embryo transfer robot of the fully automatic tile making device according to claim 1 or 5, characterized in that: the first driving piece (3) comprises a first synchronous belt (33) which is fixed on the rack (1) and is vertically arranged, a first driving motor (32) which is fixed on the lifting seat (2), and a first synchronous wheel (31) which is fixed on an output shaft of the first driving motor (32), wherein the first synchronous wheel (31) is meshed with the first synchronous belt (33), and the lifting seat (2) is provided with a first pressing wheel (34) which is used for enabling the first synchronous belt (33) to abut against the first synchronous wheel (31); the driving part II (5) comprises a synchronous belt II (53) fixed on the lifting seat (2), a driving motor II (52) fixed on the material taking seat (4) and a synchronous wheel II (51) fixed on an output shaft of the driving motor II (52), the synchronous wheel II (51) is meshed with the synchronous belt II (53), and a pressing wheel II (54) used for enabling the synchronous belt II (53) to abut against the synchronous wheel II (51) is arranged on the material taking seat (4); drive piece three (7) include that two rotate to set up get three (71) of driven synchronizing wheel of material seat (4), fix get three (72) of driving motor of material seat (4), fix three (73) of driving synchronizing wheel of driving motor three (72) output shaft, be annular hold-in range three (74), hold-in range three (74) cover is in driving synchronizing wheel three (73) with on three (71) of driven synchronizing wheel, sucking disc device (6) with hold-in range three (74) are fixed mutually, it is equipped with and is used for with hold-in range three (74) support pinch roller three (75) on the driving synchronizing wheel three (73).

7. The embryo transfer robot of the full-automatic tile making device according to claim 6, wherein: three (72) of driving motor are fixed with mount pad (721), it is equipped with the confession to get material seat (4) mount port (45), the threaded connection of mount pad (721) embedding get material seat (4) and support adjusting bolt (451) of mount pad (721) upper end, vertical bar hole (7211) have been seted up in mount pad (721), it has seted up the through-hole to get material seat (4), it is equipped with on material seat (4) and passes the through-hole with the fastening bolt, the threaded connection of bar hole (7211) fastening bolt's fastening nut.

8. The embryo transfer robot of the full-automatic tile making device according to claim 1, characterized in that: sucking disc device (6) include sucking disc seat (61), install a plurality of sucking discs (62) on sucking disc seat (61), tow chain (63) are installed to get material seat (4) upper end, tow chain (63) with sucking disc seat (61) link to each other.

9. The embryo transfer robot of the full-automatic tile making device according to claim 1, characterized in that: the device is characterized by further comprising a trolley conveying frame (9), an annular conveying chain (91) which can rotate on the trolley conveying frame (9), and a conveying driving device (93) which is used for driving the conveying chain (91) to move, wherein a positioning seat (911) used for abutting against a trolley (95) is arranged on the conveying chain (91).

10. The embryo transfer robot of the fully automatic tile making device according to claim 9, wherein: and a positioning cylinder (94) used for pushing a trolley (95) against the trolley conveying frame (9) is arranged on the trolley conveying frame (9).